def connect(waypoints_read_stream, pose_read_stream,
localization_pose_stream, notify_stream1, notify_stream2):
waypoints_write_stream = erdos.WriteStream()
pose_write_stream = erdos.WriteStream()
release_sensor_stream = erdos.WriteStream()
return [
waypoints_write_stream, pose_write_stream, release_sensor_stream
]
def connect(obstacles_stream: erdos.ReadStream):
"""Connects the operator to other streams.
The operator receives an obstacles stream.
"""
finished_indicator_stream = erdos.WriteStream()
return [finished_indicator_stream]
def connect(depth_camera_stream, center_camera_stream,
segmented_camera_stream, can_bus_stream,
ground_obstacles_stream, ground_speed_limit_signs_stream,
ground_stop_signs_stream):
obstacles_stream = erdos.WriteStream()
# Stream on which to output bounding boxes.
return [obstacles_stream]
def connect(pose_stream: erdos.ReadStream,
prediction_stream: erdos.ReadStream,
static_obstacles_stream: erdos.ReadStream,
lanes_steam: erdos.ReadStream, route_stream: erdos.ReadStream,
open_drive_stream: erdos.ReadStream,
time_to_decision_stream: erdos.ReadStream):
waypoints_stream = erdos.WriteStream()
return [waypoints_stream]
def connect(obstacles_stream, ground_obstacles_stream):
"""Connects the operator to other streams.
Args:
obstacles_stream (:py:class:`erdos.ReadStream`): The stream
on which detected obstacles are received.
ground_obstacles_stream: The stream on which
:py:class:`~pylot.perception.messages.ObstaclesMessage` are
received from the simulator.
"""
obstacles_error_stream = erdos.WriteStream()
return [obstacles_error_stream]
def connect(prediction_stream, ground_truth_stream):
"""Connects the operator to other streams.
Args:
prediction_stream (:py:class:`erdos.ReadStream`): The stream
on which obstacle tracks are received from object trackers.
ground_truth_stream: The stream on which
:py:class:`~pylot.perception.messages.ObstaclesMessage` are
received from the simulator.
"""
finished_indicator_stream = erdos.WriteStream()
return [finished_indicator_stream]
def connect(camera_stream, time_to_decision_stream):
"""Connects the operator to other streams.
Args:
camera_stream (:py:class:`erdos.ReadStream`): The stream on which
camera frames are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator sends
:py:class:`~pylot.perception.messages.ObstaclesMessage` messages.
"""
obstacles_stream = erdos.WriteStream()
return [obstacles_stream]
def connect(camera_stream):
"""Connects the operator to other streams.
Args:
camera_stream (:py:class:`erdos.ReadStream`): The stream on which
camera frames are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator sends
:py:class:`~pylot.perception.messages.LanesMessage` messages.
"""
detected_lanes_stream = erdos.WriteStream()
return [detected_lanes_stream]
def connect(obstacles_stream):
"""Connects the operator to other streams.
Args:
obstacles_stream (:py:class:`erdos.ReadStream`): The stream on
which detected obstacles are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator
publishes mAP accuracy results.
"""
map_stream = erdos.WriteStream()
return [map_stream]
def connect(control_stream):
can_bus_stream = erdos.WriteStream()
ground_traffic_lights_stream = erdos.WriteStream()
ground_obstacles_stream = erdos.WriteStream()
ground_speed_limit_signs_stream = erdos.WriteStream()
ground_stop_signs_stream = erdos.WriteStream()
vehicle_id_stream = erdos.WriteStream()
open_drive_stream = erdos.WriteStream()
global_trajectory_stream = erdos.WriteStream()
return [
can_bus_stream, ground_traffic_lights_stream,
ground_obstacles_stream, ground_speed_limit_signs_stream,
ground_stop_signs_stream, vehicle_id_stream, open_drive_stream,
global_trajectory_stream
]
def connect(camera_stream):
"""Connects the operator to other streams.
Args:
camera_stream (:py:class:`erdos.ReadStream`): The stream on which
camera frames are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator sends
:py:class:`~pylot.perception.messages.TrafficLightsMessage`
messages for traffic lights.
"""
traffic_lights_stream = erdos.WriteStream()
return [traffic_lights_stream]
def connect(tracking_stream):
"""Connects the operator to other streams.
Args:
tracking_stream (:py:class:`erdos.ReadStream`): The stream on which
:py:class:`~pylot.perception.messages.ObstacleTrajectoriesMessage`
are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator sends
:py:class:`~pylot.prediction.messages.PredictionMessage` messages.
"""
linear_prediction_stream = erdos.WriteStream()
return [linear_prediction_stream]
def connect(left_camera_stream, right_camera_stream):
"""Connects the operator to other streams.
Args:
left_camera_stream (:py:class:`erdos.ReadStream`): The stream on
which left camera frames are received.
right_camera_stream (:py:class:`erdos.ReadStream`): The stream on
which right camera frames are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which depth frames are
sent.
"""
depth_estimation_stream = erdos.WriteStream()
return [depth_estimation_stream]
def connect(ground_segmented_stream):
"""Connects the operator to other streams.
Args:
ground_segmented_stream (:py:class:`erdos.ReadStream`): Stream on
which perfectly segmented
:py:class:`~pylot.perception.messages.SegmentedFrameMessage`
are received.
Returns:
:py:class:`erdos.WriteStream`: Stream on which the operator
publishes IoU accuracy results.
"""
iou_stream = erdos.WriteStream()
return [iou_stream]
def connect(control_stream, release_sensor_stream):
pose_stream = erdos.WriteStream()
pose_stream_for_control = erdos.WriteStream()
ground_traffic_lights_stream = erdos.WriteStream()
ground_obstacles_stream = erdos.WriteStream()
ground_speed_limit_signs_stream = erdos.WriteStream()
ground_stop_signs_stream = erdos.WriteStream()
vehicle_id_stream = erdos.WriteStream()
open_drive_stream = erdos.WriteStream()
global_trajectory_stream = erdos.WriteStream()
return [
pose_stream,
pose_stream_for_control,
ground_traffic_lights_stream,
ground_obstacles_stream,
ground_speed_limit_signs_stream,
ground_stop_signs_stream,
vehicle_id_stream,
open_drive_stream,
global_trajectory_stream,
]
def connect():
pose_stream = erdos.WriteStream()
ground_traffic_lights_stream = erdos.WriteStream()
ground_obstacles_stream = erdos.WriteStream()
ground_speed_limit_signs_stream = erdos.WriteStream()
ground_stop_signs_stream = erdos.WriteStream()
vehicle_id_stream = erdos.WriteStream()
return [
pose_stream, ground_traffic_lights_stream, ground_obstacles_stream,
ground_speed_limit_signs_stream, ground_stop_signs_stream,
vehicle_id_stream
]
def connect(obstacles_stream, depth_stream, pose_stream):
obstacles_output_stream = erdos.WriteStream()
return [obstacles_output_stream]
def connect(pose_stream, obstacles_stream, depth_camera_stream):
fused_stream = erdos.WriteStream()
return [fused_stream]
def connect(ground_vehicle_id_stream, release_sensor_stream):
lidar_stream = erdos.WriteStream()
notify_reading_stream = erdos.WriteStream()
return [lidar_stream, notify_reading_stream]
def connect(pose_stream: ReadStream, waypoints_stream: ReadStream):
control_stream = erdos.WriteStream()
return [control_stream]
def connect(ground_vehicle_id_stream):
lane_invasion_stream = erdos.WriteStream()
return [lane_invasion_stream]
def connect(vehicle_id_stream: ReadStream,
ground_obstacles_stream: ReadStream, pose_stream: ReadStream):
ground_tracking_stream = erdos.WriteStream()
return [ground_tracking_stream]
def connect(wait_stream):
control_stream = erdos.WriteStream()
return [control_stream]
def connect(point_cloud_stream, tracking_stream):
prediction_stream = erdos.WriteStream()
return [prediction_stream]
def connect(ground_vehicle_id_stream):
collision_stream = erdos.WriteStream()
return [collision_stream]
def connect(ground_vehicle_id_stream):
lidar_stream = erdos.WriteStream()
return [lidar_stream]
def connect(ego_vehicle_id_stream):
imu_stream = erdos.WriteStream()
return [imu_stream]
def connect(wait_stream):
# Set no watermark on the output stream so that we do not
# close the watermark loop with the carla operator.
control_stream = erdos.WriteStream()
return [control_stream]
def connect():
return [erdos.WriteStream()]
def connect(read_stream):
return [erdos.WriteStream()]
